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WO2019197011A1 - Module de connexion pour débroussailleuse, taille-haie ou similaires - Google Patents

Module de connexion pour débroussailleuse, taille-haie ou similaires Download PDF

Info

Publication number
WO2019197011A1
WO2019197011A1 PCT/EP2018/058989 EP2018058989W WO2019197011A1 WO 2019197011 A1 WO2019197011 A1 WO 2019197011A1 EP 2018058989 W EP2018058989 W EP 2018058989W WO 2019197011 A1 WO2019197011 A1 WO 2019197011A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
chassis
brush cutter
sensors
connecting module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/058989
Other languages
English (en)
Inventor
Xavier David Beaulieu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
VITIROVER
Original Assignee
VITIROVER
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by VITIROVER filed Critical VITIROVER
Priority to PCT/EP2018/058989 priority Critical patent/WO2019197011A1/fr
Publication of WO2019197011A1 publication Critical patent/WO2019197011A1/fr
Priority to US17/065,935 priority patent/US20210022292A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/828—Safety devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • A01D75/185—Avoiding collisions with obstacles

Definitions

  • the invention relates to a connecting module for a brush cutter, edge trimmer or the like, comprising a chassis and a cutting module.
  • a robot in such a configuration must face all the obstacles without ever being “jammed” and thus forced to stop his automatic work.
  • the best solution for cutting the grass closer to the grass is to come into contact with the obstacle. Therefore, the robot is not configured to avoid the obstacle but to detect it as quickly as possible.
  • the number of obstacles per unit area, and therefore the number of contacts between the robot and these obstacles per unit of time can be as important as one obstacle every 12 seconds in a vineyard planted at 6600 feet per hectare (plus 20% of stakes), at a speed of 350 m/h.
  • An object of the invention is, in particular, to provide a mowing robot adapted to detect an obstacle faster, and more precise and effective than the mowing robot known in the previous art.
  • the invention relates to a connecting module for a brush cutter, edge trimmer or the like, comprising a chassis and a cutting module, said module being intended to be connected to said chassis, on the one hand, by flexible damping elements and, on the other hand, fixed to said cutting module, said module being equipped with position sensors of said cutting module with respect to said chassis.
  • connection between said connecting module and the chassis has the degrees of freedom, around the pitch and roll axis, according to the mowing direction of the brush cutter, edge trimmer or the like.
  • the position sensors may comprise an electronic inertial measurement unit.
  • the invention relates to a brush cutter, edge trimmer or the like comprising a connecting module as claimed according to the first aspect of the invention, or one or more of its improvement elements.
  • the chassis comprises a processing unit and a controller, the processing unit being configured to detect obstacle by using data provided by the position sensors and to send orders to the controller.
  • the chassis may further comprise sensors fixed onto it and the processing unit may also be configured to detect obstacle by using data provided by the said sensors.
  • the sensors may comprise a torque sensor for each of the wheels.
  • the sensors may comprise a geographical position system.
  • the processing unit may be also configured to detect obstacle by using data provided by the controller.
  • a method of detecting an obstacle comprising the use of a connecting module according to the first aspect of the invention, or one or more of its improvement elements, or the use of a brush cutter, edge trimmer or the like, according to the second aspect of the invention, or one or more of its improvement elements.
  • FIG. 1 is a perspective view of a mowing robot comprising a connecting module according to the invention
  • Figure 2 is a cutaway drawing of Figure 1;
  • Figure 3 is a front view of Figure 1;
  • Figure 4 is a left side view of Figure 1;
  • Figure 5 is a top view of Figure 1;
  • FIG. 6 is a schematic representation of the mowing robot of Figure 1;
  • FIG. 7 is a perspective view of another embodiment of a mowing robot comprising a connecting module according to the invention. Detailed description of specific embodiments of the invention
  • variants of the invention comprising only a selection of characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from the state of the art.
  • This selection comprises at least one characteristic, preferably functional without structural details, or with only a part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention from the prior art.
  • Figure 1 a perspective view of a mowing robot 1 comprising a chassis 2 suspended on wheels 3, and a cutting module 4.
  • the mowing robot 1 also comprise a connecting module 5.
  • the connecting module 5 is connected to the chassis 2, for example by flexible damping elements 6 (see figure 2), such as silent blocks.
  • the connecting module 5 is fixed to the cutting module 4, for example by means of screws (not shown).
  • the connecting module might be in a position which is rotated around a longitudinal axis (according to the mowing direction) of the mowing robot 1.
  • both side of the cutting module 4 are at the same level.
  • the connecting module might be in a position which is rotated around a transverse axis (according to the mowing direction) of the mowing robot 1.
  • both side of the cutting module 4 are at the same level.
  • the connecting module might be in a position which is rotated around a vertical axis of the mowing robot 1.
  • the cutting module 4 is in a nominal direction.
  • the cutting module 4 is turned around the vertical axis according to a negative angle.
  • the cutting module 4 is turned around the vertical axis according to a positive angle.
  • connection between the connecting module 5 and the chassis 2 has six degrees of freedom: three rotations are shown on Figures 3 to 5 while 3 translations are allowed due to the use of damping elements connecting the cutting module 4 to the chassis 2.
  • the connecting module 5 is equipped with position sensors 7 of said cutting module with respect to said chassis.
  • the position sensors 7 comprise an electronic inertial measurement unit called IMU (for the English “Inertial Measurement Unit”).
  • IMU comprises a gyroscope, an accelerometer.
  • the mowing robot 1 might comprise a processing unit 8 and a controller 9.
  • the information provided by the position sensors 7 might be sufficient to detect an obstacle.
  • the processing unit 8 might be configured to detect obstacle by using data provided by the position sensors 7.
  • the processing unit 8 might be configured to send orders 10 to the controller 9.
  • the chassis further comprise sensors 11 fixed onto it.
  • the connecting module 5 is connected to the chassis 2 by a deformable connection of rubber type.
  • the silent blocs 6 absorb a part of the energy of the shock, and allows a local deformation between the connecting module 5 and the chassis 2.
  • the processing unit 8 is also configured to detect obstacle by using data provided by the said sensors 11.
  • the processing unit 9 might be configured to detect the changes between the data provided by the position sensor 7 and the sensors 8.
  • the sensors 11 might comprise a torque sensor for each of the wheels 3.
  • the sensors 11 might comprise a geographical position system. As illustrated on figure 7, the position sensor 7' might put inside the chassis 2', while being secured to the connecting module 5, for example via an arm.
  • This assembly amplifies the linear acceleration sensed by the inertial unit, which makes the shock detection more effective.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

La présente invention concerne un module de connexion (5) pour débroussailleuse (1), taille-haie ou similaires, comprenant un châssis (2) et un module de coupe (4), ledit module étant prévu pour être relié audit châssis, sur une extrémité, par des éléments d'amortissement flexibles (6) et, d'autre part, fixé audit module de coupe, ledit module étant équipé de capteurs de position (7) dudit module de coupe par rapport audit châssis.
PCT/EP2018/058989 2018-04-09 2018-04-09 Module de connexion pour débroussailleuse, taille-haie ou similaires Ceased WO2019197011A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/EP2018/058989 WO2019197011A1 (fr) 2018-04-09 2018-04-09 Module de connexion pour débroussailleuse, taille-haie ou similaires
US17/065,935 US20210022292A1 (en) 2018-04-09 2020-10-08 Robot and method for controlling the robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2018/058989 WO2019197011A1 (fr) 2018-04-09 2018-04-09 Module de connexion pour débroussailleuse, taille-haie ou similaires

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/058987 Continuation-In-Part WO2019197010A1 (fr) 2018-04-09 2018-04-09 Tête de coupe pour débroussailleuse, coupe-bordures ou similaire

Related Child Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/058990 Continuation-In-Part WO2019197012A1 (fr) 2018-04-09 2018-04-09 Élément d'arrêt pour un robot ayant un châssis et un carter d'essieu arrière libre avec deux axes de rotation par rapport au châssis

Publications (1)

Publication Number Publication Date
WO2019197011A1 true WO2019197011A1 (fr) 2019-10-17

Family

ID=61965985

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/058989 Ceased WO2019197011A1 (fr) 2018-04-09 2018-04-09 Module de connexion pour débroussailleuse, taille-haie ou similaires

Country Status (1)

Country Link
WO (1) WO2019197011A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4099815A4 (fr) * 2020-02-07 2024-03-20 Texaroba Technology Inc. Tondeuse à gazon robotisée d'un dispositif de coupe non traditionnel

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020049517A1 (en) * 1999-03-19 2002-04-25 Ruffner Bryan John Multifunctional mobile appliance
EP2586283A1 (fr) * 2011-10-31 2013-05-01 Robert Bosch Gmbh Outil de travail autonome
CN105746094A (zh) * 2016-04-05 2016-07-13 常州格力博有限公司 全方位碰撞传感器装置及割草机

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020049517A1 (en) * 1999-03-19 2002-04-25 Ruffner Bryan John Multifunctional mobile appliance
EP2586283A1 (fr) * 2011-10-31 2013-05-01 Robert Bosch Gmbh Outil de travail autonome
CN105746094A (zh) * 2016-04-05 2016-07-13 常州格力博有限公司 全方位碰撞传感器装置及割草机

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4099815A4 (fr) * 2020-02-07 2024-03-20 Texaroba Technology Inc. Tondeuse à gazon robotisée d'un dispositif de coupe non traditionnel

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